Adaptive Nonlinear Tracking Control of Kinematically Redundant Robot Manipulators with Sub-Task Extensions

Abstract

Past research efforts have focused on the end-effector tracking control of redundant robots because of their increased dexterity over their non-redundant counterparts. This work utilizes an adaptive full-state feedback quaternion based controller developed in [5] and focuses on the design of a general sub-task controller. This sub-task controller does not affect the position and orientation tracking control objectives, but instead projects a preference on the configuration of the manipulator based on sub-task objective such as the following; singularity avoidance, joint limit avoidance, bounding the impact forces, and bounding the potential energy.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2005
Accession Number
ADA465620

Entities

People

  • D. Dawson
  • E. Tatlicioglu
  • I. Walker
  • M. Mcintyre

Organizations

  • Clemson University

Tags

Communities of Interest

  • Autonomy
  • C4I
  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Cartesian Coordinates
  • Closed Loop Systems
  • Control
  • Coordinate Systems
  • Differential Equations
  • Energy
  • Engineering
  • Equations
  • Exponential Functions
  • Feedback
  • Manipulators
  • Orientation (Direction)
  • Potential Energy
  • Robots
  • Simulations
  • Standards
  • Trajectories

Readers

  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Autonomy - Autonomous System Control